CN113484885A - Terminal positioning method adaptive to CDR data broadcast VRS technology application - Google Patents
Terminal positioning method adaptive to CDR data broadcast VRS technology application Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The invention relates to the technical field of terminal positioning, in particular to a terminal positioning method adaptive to CDR data broadcast VRS technical application, which searches a virtual reference station corresponding to calculation according to the position information of a terminal, and makes the virtual reference station in a CDR-VRS coverage area form a unique plane triangle according to three stations nearest to the terminal, the movement of a vehicle is to move in the triangle or cross to an adjacent triangle, two points are always points of the previous triangle when crossing, the calculation of a newly added point can not enter a fixed solution, but the original two points are always in a fixed solution state, the difference of the virtual reference station nearest to the terminal is selected from the fixed solution, and the difference is corrected to output a data calculation result, so that the output is always a fixed solution. The invention converts the motion of the vehicle into the structure of a plane triangle, does not need a terminal grid unit, and can be adapted to various regular and irregular broadcast VRS coverage systems.
Description
Technical Field
The invention relates to the technical field of terminal positioning, in particular to a terminal positioning method adaptive to CDR data broadcast VRS technology application.
Background
The digital audio broadcasting technology (CDR) of frequency modulation frequency band is based on digital technology, and adopts advanced digital audio coding and compression technology and channel error correction coding modulation technology to realize digital processing and transmission of audio broadcasting signals. The CDR is used for transmitting real-time data such as weather, roads, navigation and the like besides digital audio, and public information coverage in a broadcasting mode is realized. The differential correction data of the Beidou navigation foundation enhancement system is broadcasted by using the CDR channel to realize the increasing popularization of the Beidou high-precision positioning of massive users.
The Beidou high-precision positioning mainly adopts a Beidou navigation foundation enhancement system, a user utilizes differential correction data of a CORS station to eliminate single-point positioning error per se and improve positioning precision, but because the distance between the user and the CORS station is different, baseline errors exist, and in order to reduce the baseline errors, various methods are developed, wherein a VRS (virtual Reference station) method is a more common method at present.
A VRS differential data broadcasting system based on a CDR data broadcasting mode, namely CDR-VRS, a VRS server gridds a coverage area, reasonably divides the area into a plurality of blocks which can be continuous squares, rectangles, sectors and the like according to a certain rule according to the baseline error precision requirement of the coverage system, determines a virtual CORS site according to the geometric center of the shape, and writes the position information of the virtual CORS site into a corresponding site address table. The VRS server pre-calculates the differential correction data of all the virtual reference stations in real time according to the VRS regional reference CORS station, broadcasts the differential correction data and the position information of the virtual reference stations in real time, and after receiving the differential correction data, a user selects the differential correction data closest to the virtual reference station to resolve according to the single-point positioning position of the user, so that errors are eliminated, and the positioning accuracy is improved. Compared with the network VRS, the broadcast VRS has no return mechanism, and all virtual CORS site data need to be calculated in advance, but the broadcast mode can serve massive users. The urban Internet of vehicles users are large in number, are concentrated in urban areas and are coverage areas of broadcasting, the method for providing the Beidou foundation enhanced broadcasting VRS differential data broadcasting channel by utilizing the existing stock broadcasting resources is an effective technical means, and a foundation enhanced differential data broadcasting system covering national cities can be quickly established.
In the application of the existing positioning terminal in CDR-VRS, a resolving mechanism is mainly adopted for differential correction data of a nearest virtual reference station, the terminal realizes terminal position gridding according to a gridding rule of a broadcast VRS system, and when the position of the positioning terminal corresponds to a grid where a virtual reference station 1 is located, the differential correction data of the virtual reference station 1 is adopted for positioning resolving; when the terminal moves to the grid where the virtual reference station 2 is located, positioning calculation is performed according to the differential data of the grid where the virtual reference station 2 is located, and the method is a hard switching strategy. When the virtual reference station is switched to another virtual reference station, the fixed solution can be entered after the initialization of 2-3 seconds generally, and the high-precision positioning has a short interruption phenomenon.
Vehicle positioning of the vehicle networking within the CDR-VRS coverage area may utilize this technique to upgrade the self point positioning to RTD/RTK accuracy positioning. Therefore, a terminal positioning method adaptive to the VRS technology application of CDR data broadcasting is provided.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a terminal positioning method adaptive to CDR data broadcasting VRS technical application, which adopts a mechanism of simultaneously resolving differential correction data of three nearest virtual reference stations around a vehicle, selects positioning data which is a fixed solution and is resolved by the nearest virtual reference station from the differential correction data and outputs the positioning data, ensures that a terminal is always in a high-precision positioning state, and solves the problem of high-precision interruption of positioning under the condition of fast movement.
The invention provides the following technical scheme: a terminal positioning method adapting to CDR data broadcast VRS technology application comprises the following steps:
s1, the terminal receives broadcast VRS data through the CDR receiving device, opens up a VRS data storage area according to the received data, and stores the position information of each virtual reference station and the differential correction data thereof; a satellite receiving device of the terminal resolves the single-point positioning position information of the terminal and stores the position information in a local position information memory;
s2, the terminal sets tracking storages of at least three tracking virtual reference stations, each tracking storage corresponds to one virtual reference station, the content of the tracking storage comprises position information of the virtual reference stations, differential correction data and distance values from the terminal, when the position information of the terminal is refreshed each time, the nearest virtual reference station is searched, the information of the rejected stations is replaced by new stations, and the reserved stations only update the distance values during refreshing;
and S3, after the terminal position is refreshed, resolving the found at least three virtual reference stations by using the refreshed terminal position information and the differential correction data of the tracking memory, and selecting the data resolved by the virtual reference station closest to the terminal position from at least two fixed solutions to output.
Preferably, in step S1, the terminal receives broadcast VRS data through the CDR receiving apparatus, and the terminal determines the composition of the area broadcast VRS according to the broadcast data of the virtual reference station: the number of virtual reference stations, the updating frequency of differential correction data and the playing mode of the position information of the virtual reference stations.
Preferably, in step S1, the terminal sets an update frequency according to the application requirement, and each time the terminal updates, the content of the local location information storage is updated correspondingly.
Preferably, the data update of the terminal and the CDR-VRS data in step S1 has no synchronization relationship.
Preferably, in step S2, the differential correction data corresponding to at least three stations is updated by the broadcast VRS receiving unit.
Preferably, in the coverage area of the CDR-VRS in step S2, the distance between the virtual reference sites is far greater than the distance generated by the terminal moving during the terminal refresh interval.
Preferably, in step S2, the terminal uses its own position as a center of a circle and uses the variable length R as a radius to find three nearest reference sites, where the three reference sites form a plane triangle, and record position information and distance information of the three reference sites.
Preferably, after the terminal position is refreshed in step S3, the three found virtual reference sites are respectively solved by the refreshed terminal position information and the differential correction data of the three tracking storages, and the data solved by the virtual reference site closest to the terminal position is selected from the three fixed solutions and output.
Preferably, after the terminal crosses over in step S3, when the solution of the newly added virtual reference station cannot enter the fixed solution, the difference correction data solution result of the virtual reference station closest to the terminal is selected from the original two fixed solutions of the virtual reference station and output, so as to ensure that the output is always the fixed solution.
The invention provides a terminal positioning method adaptive to CDR data broadcast VRS technology application, vehicle positioning of the vehicle networking in a CDR-VRS coverage area can be upgraded to positioning of RTD/RTK precision by utilizing the technology, and the use effect of a fast moving vehicle-mounted terminal is consistent with the static application effect. The application objects of the CDR-VRS technology are expanded, the number of the car networking users is large, and the social benefit is remarkable. Application of CDR-VRS is also indirectly facilitated. By the aid of the technology, the positioning accuracy of the mobile vehicle-mounted terminal of the Internet of vehicles is improved, lane matching application can be achieved, and the application of the Internet of vehicles is expanded.
Drawings
FIG. 1 is a hardware schematic block diagram of the present invention;
FIG. 2 is a process flow diagram of the present invention;
fig. 3 is a schematic diagram of the movement of the terminal according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the present invention provides a technical solution: a terminal positioning method adapting to CDR data broadcast VRS technology application comprises the following steps:
s1, the terminal receives broadcast VRS data through the CDR receiving device, opens up a VRS data storage area according to the received data, and stores the position information of each virtual reference station and the differential correction data thereof; a satellite receiving device of the terminal resolves the single-point positioning position information of the terminal and stores the position information in a local position information memory;
the terminal receives broadcast VRS data through a CDR receiving device, and the terminal judges the composition of the area broadcast VRS through the broadcasted data of the virtual reference station: the number of virtual reference stations, the updating frequency of differential correction data and the playing mode of the position information of the virtual reference stations.
The terminal sets the updating frequency according to the application requirement, and the content of the local position information memory is correspondingly updated once every time the terminal updates. The data update of the terminal and the CDR-VRS data has no synchronization relationship.
The position information of the virtual reference station in a coverage area is basically unchanged or less changed, the data updating interval is long, the differential correction data of the virtual reference station are updated at regular time, which is mainly determined by a mechanism of a CDR-VRS broadcasting system, and the terminal updates the data of the storage area by the updated data.
S2, the terminal sets tracking storages of at least three tracking virtual reference stations, each tracking storage corresponds to one virtual reference station, the content of the tracking storage comprises position information of the virtual reference stations, differential correction data and distance values from the terminal, when the position information of the terminal is refreshed each time, the nearest virtual reference station is searched, the information of the rejected stations is replaced by new stations, and the reserved stations only update the distance values during refreshing; the differential correction data corresponding to at least three stations is updated by the broadcast VRS receiving unit. In the coverage area of the CDR-VRS, the distance between the virtual reference sites is far larger than the distance generated by the terminal moving during the terminal refreshing interval.
As shown in fig. 3, the movement of the vehicle is to move in the triangle or cross into the adjacent triangle, two points are always the points of the previous triangle each time the vehicle crosses, a new endpoint will replace the other endpoint, and the movement of the vehicle can be equivalent to the replacement of the endpoint of the plane determined by the three virtual reference stations. Because the principle that the distance between the terminal and the three points is shortest is adopted, the area of the formed triangle is also smallest, and the formed three points are also unique. When the terminal position is refreshed, the terminal finds three reference stations closest to the terminal by taking the position of the terminal as the center of a circle and taking the variable length R as the radius, and records the position information and the distance information of the three stations. In the case that three points are still original three points, and in the case that one point is replaced, the setting of R can be self-adapted from small to large, and can also be estimated according to the experience value of the prior search. The vehicle networked with the vehicle moves at a high speed in a CDR-VRS coverage area, and from the view of an RTK resolving function, the positioning terminal is equivalent to switching between gridded virtual reference stations, the positioning output of differential correction data resolving of the virtual reference station with the closest distance is selected, and the error is minimum.
And S3, after the terminal position is refreshed, resolving the found at least three virtual reference stations by using the refreshed terminal position information and the differential correction data of the tracking memory, and selecting the data resolved by the virtual reference station closest to the terminal position from at least two fixed solutions to output.
After the terminal position is refreshed, the three found virtual reference sites are respectively solved by using the refreshed terminal position information and the differential correction data of the three tracking storages, and the data solved by the virtual reference site closest to the terminal position is selected from the three fixed solutions to be output.
After the terminal crosses, when the calculation of the newly added virtual reference station can not enter a fixed solution, a difference correction data calculation result of the virtual reference station closest to the terminal is selected from the original two virtual reference station fixed solutions and is output, and the output is guaranteed to be the fixed solution all the time.
The searching method with the variable radius R adopted by the scheme can also be used for calculating the distance of all known virtual reference stations, so that three stations with the nearest distance can be obtained, but the calculation amount is large each time; the triangular plane method may also use more than three sides of the plane to determine the shape of a surrounding terminal, mainly considering that a plane is determined with the least number of points; the data storage mode and the calculation mode have various forms and can obtain the same data result, and on a hardware platform implemented by the method, a satellite receiving device, a CDR receiving device, a resolving processor and a data memory are necessary hardware, but the hardware model and specification can be various, and the combination mode can also be different. The scheme is suitable for fast moving application scenes and is also suitable for slow moving and static scenes.
The working principle is as follows: the virtual reference stations in the CDR-VRS coverage area form a unique plane triangle according to three stations closest to the terminal, the movement of a vehicle is to move in the triangle or cross to an adjacent triangle, two points are always the points of the previous triangle during crossing, when the virtual reference stations cross, the solution of a new adding point cannot enter a fixed solution, but the original two points are always in solution and are in a fixed solution state, and the difference correction data solution result of the virtual reference station closest to the terminal is selected from the fixed solution and output, so that the output is always a fixed solution. The invention converts the motion of the vehicle into the structure of a plane triangle, does not need a terminal grid unit, and can be adapted to various regular and irregular broadcast VRS coverage systems.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. A terminal positioning method adapting to CDR data broadcast VRS technology application is characterized in that: the method comprises the following steps:
s1, the terminal receives broadcast VRS data through the CDR receiving device, opens up a VRS data storage area according to the received data, and stores the position information of each virtual reference station and the differential correction data thereof; a satellite receiving device of the terminal resolves the single-point positioning position information of the terminal and stores the position information in a local position information memory;
s2, the terminal sets tracking storages of at least three tracking virtual reference stations, each tracking storage corresponds to one virtual reference station, the content of the tracking storage comprises position information of the virtual reference stations, differential correction data and distance values from the terminal, when the position information of the terminal is refreshed each time, the nearest virtual reference station is searched, the information of the rejected stations is replaced by new stations, and the reserved stations only update the distance values during refreshing;
and S3, after the terminal position is refreshed, resolving the found at least three virtual reference stations by using the refreshed terminal position information and the differential correction data of the tracking memory, and selecting the data resolved by the virtual reference station closest to the terminal position from at least two fixed solutions to output.
2. The terminal positioning method adapted to the application of the CDR data broadcasting VRS technology of claim 1, wherein: in step S1, the terminal receives broadcast VRS data through the CDR receiving apparatus, and the terminal determines the composition of the area broadcast VRS through the broadcasted data of the virtual reference station: the number of virtual reference stations, the updating frequency of differential correction data and the playing mode of the position information of the virtual reference stations.
3. The terminal positioning method adapted to the application of the CDR data broadcasting VRS technology of claim 1, wherein: in step S1, the terminal sets an update frequency according to the application requirement, and the content of the local location information storage is updated once every time.
4. The terminal positioning method adapted to the application of the CDR data broadcasting VRS technology of claim 1, wherein: the data update of the terminal and the CDR-VRS data in said step S1 has no synchronization relationship.
5. The terminal positioning method adapted to the application of the CDR data broadcasting VRS technology of claim 1, wherein: the differential correction data corresponding to at least three stations in the step S2 is updated by the broadcast VRS receiving unit.
6. The terminal positioning method adapted to the application of the CDR data broadcasting VRS technology of claim 1, wherein: in the coverage area of the CDR-VRS in step S2, the distance between the virtual reference sites is much larger than the distance generated by the terminal moving during the terminal refresh interval.
7. The method of claim 6, wherein the method comprises: in the step S2, the terminal finds three closest reference sites with the position thereof as the center of a circle and the variable length R as the radius, the three reference sites form a plane triangle, and records the position information and the distance information of the three reference sites.
8. The method of claim 7, wherein the method comprises: after the terminal position is refreshed in the step S3, the three found virtual reference sites are respectively solved by the refreshed terminal position information and the differential correction data of the three tracking storages, and the data solved by the virtual reference site closest to the terminal position is selected from the three fixed solutions and output.
9. The method of claim 7, wherein the method comprises: after the terminal crosses over in the step S3, when the solution of the newly added virtual reference station cannot enter the fixed solution, the difference correction data solution result of the virtual reference station closest to the terminal is selected from the original two virtual reference station fixed solutions and output, and it is ensured that the output is always the fixed solution.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113945956A (en) * | 2021-10-15 | 2022-01-18 | 北京路凯智行科技有限公司 | Vehicle-mounted positioning system and mining vehicle comprising same |
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